CN116495609B - A crane spreader with a swing angle detection device - Google Patents

A crane spreader with a swing angle detection device Download PDF

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CN116495609B
CN116495609B CN202310759872.5A CN202310759872A CN116495609B CN 116495609 B CN116495609 B CN 116495609B CN 202310759872 A CN202310759872 A CN 202310759872A CN 116495609 B CN116495609 B CN 116495609B
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platform
angle adjustment
lower platform
connecting rod
cables
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CN116495609A (en
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侯新力
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Henan Zhongwang Heavy Industry Group Co ltd
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Jinshuo Research And Design Institute Henan Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/12Slings comprising chains, wires, ropes, or bands; Nets
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/04Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

本申请提供一种具有摇摆角度检测装置的起重机吊具,其包括上平台,刚性连杆,四条角度调节钢索,四个升降电机,下平台,CCD相机和水平仪;通过在上平台和下平台之间设计带有球铰球头的刚性连杆,刚性连杆在提供刚性支撑的同时,还可以实现下平台的姿态调整,从而可以带动固定在其下方的待吊装物体进行姿态调整,为完成总装提供便利;CCD相机可以实现单目视觉的位姿的检测,并反馈控制升降电机对下平台进行位姿调整,提高了吊具的集成度和可靠性,取得了很好的技术效果。

This application provides a crane sling with a swing angle detection device, which includes an upper platform, a rigid connecting rod, four angle adjustment cables, four lifting motors, a lower platform, a CCD camera and a level; by connecting the upper platform and the lower platform A rigid connecting rod with a spherical hinge ball head is designed between them. The rigid connecting rod not only provides rigid support, but also can adjust the attitude of the lower platform, thereby driving the object to be hoisted fixed below it to adjust the attitude. To complete the It provides convenience for final assembly; the CCD camera can detect the posture of monocular vision, and feedback controls the lifting motor to adjust the posture of the lower platform, which improves the integration and reliability of the spreader and achieves good technical results.

Description

一种具有摇摆角度检测装置的起重机吊具A crane spreader with a swing angle detection device

技术领域Technical field

本申请涉及起重机吊具调节技术领域,具体涉及一种具有摇摆角度检测装置的起重机吊具,吊具适用于需要姿态调节的物体的吊装,尤其适用于化工、航空、航天、兵器等领域的各类大型非标准零件的吊装。This application relates to the technical field of crane spreader adjustment, specifically to a crane spreader with a swing angle detection device. The spreader is suitable for hoisting objects that require attitude adjustment, and is especially suitable for various fields such as chemical industry, aviation, aerospace, weapons, etc. Lifting of large non-standard parts.

背景技术Background technique

大件吊装是通过起重设备吊装完成大件从原位移至另一位置的操作过程。目前,业内常见的技术方案普遍仅可以对起吊目标物体实现水平起吊并完成平移,无法完成多角度起吊,也无法稳定地实现目标物体在起吊移动过程中完成姿态调整和保持,以为工件后续的安装和调试提供便利。Large piece lifting is the operation process of moving large pieces from the original position to another position through lifting equipment. At present, common technical solutions in the industry can only achieve horizontal lifting and translation of the lifting target object. They cannot complete multi-angle lifting, nor can they stably adjust and maintain the posture of the target object during the lifting movement, which is convenient for subsequent installation of the workpiece. and debugging convenience.

现有技术中,上述姿态调整保持往往需要工人现场手动完成,但是由于吊装吊具往往是柔性的(钢索或者链条),这一工作实际操作费时费力,即便调整好后精度也很难维持,且存在严重的安全隐患(例如工件坠落伤人或工件磕碰损坏等)。例如,在航天领域,某型号航天返回装置防热大顶(用于抵御返回过程中大气层对返回装置的高温烧蚀)与舱体的对接过程,从起吊至安装结束,需要经过电子经纬仪建站或全站仪进行大尺寸精密测量,这一过程需要多次重复测量迭代调整,达到最终满足需求规定的结果大概需要一天的时间。In the existing technology, the above-mentioned posture adjustment and maintenance often need to be completed manually by workers on site. However, since the hoisting slings are often flexible (steel ropes or chains), the actual operation of this work is time-consuming and laborious, and even after adjustment, the accuracy is difficult to maintain. And there are serious safety hazards (such as workpiece falling and injuring people or workpiece being damaged by collision, etc.). For example, in the aerospace field, the docking process of a certain model of aerospace return device's heat-proof roof (used to resist the high-temperature ablation of the return device by the atmosphere during the return process) and the capsule, from lifting to installation, requires the establishment of an electronic theodolite site or The total station performs large-scale precision measurements. This process requires repeated measurements and iterative adjustments. It takes about a day to achieve the final result that meets the requirements.

综上所述,现有技术主要存在如下问题:(1)传统吊具无法实现工件的姿态调整,导致总装的时间延长;(2)传统吊具即便通过人工完成了工件姿态调整,也很难稳定维持这一状态,往往起重设备运动就会造成很大的偏差。To sum up, the existing technology mainly has the following problems: (1) Traditional spreaders cannot adjust the attitude of the workpiece, resulting in extended assembly time; (2) Even if the attitude adjustment of the workpiece is manually completed with traditional spreaders, it is difficult to adjust the attitude of the workpiece. To maintain this state stably, the movement of the lifting equipment will often cause large deviations.

因此,提供一种具有摇摆角度检测装置的起重机吊具以适应需要姿态调节的物体的吊装非常有必要。Therefore, it is very necessary to provide a crane spreader with a swing angle detection device to adapt to the hoisting of objects that require attitude adjustment.

发明内容Contents of the invention

为了弥补以上不足,本申请提供了一种具有摇摆角度检测装置的起重机吊具。In order to make up for the above shortcomings, this application provides a crane spreader with a swing angle detection device.

本申请涉及一种具有摇摆角度检测装置的起重机吊具,其可以为待吊装物体提供刚性支撑,而在此基础上,通过柔性钢索实现了待吊装物体的姿态调整,为后续总装提供了坚实基础,摇摆角度检测装置可以保证待吊装物体的姿态的准确性。This application relates to a crane sling with a swing angle detection device, which can provide rigid support for objects to be hoisted. On this basis, the attitude adjustment of the objects to be hoisted is realized through flexible steel cables, providing a solid foundation for subsequent final assembly. Basically, the swing angle detection device can ensure the accuracy of the attitude of the object to be hoisted.

本申请采取以下技术手段实现。This application adopts the following technical means to achieve this.

一种具有摇摆角度检测装置的起重机吊具,包括。A crane spreader with a swing angle detection device includes.

高度调节机构,旋转机构,上平台,刚性连杆,四条角度调节钢索,四个升降电机,下平台,CCD相机,靶标尺和水平仪。Height adjustment mechanism, rotating mechanism, upper platform, rigid link, four angle adjustment cables, four lifting motors, lower platform, CCD camera, target ruler and level.

高度调节机构的上端与起重装置的小车机构的下端固定连接,高度调节机构的下端固定连接旋转机构的固定部,旋转机构的旋转部固定连接上平台的顶面的中心位置;刚性连杆的上端固定连接上平台的底面的中心位置,刚性连杆的下端设有下球铰球头,刚性连杆下端的下球铰球头内置于下平台内,刚性连杆通过下球铰球头为下平台提供一刚性支撑,且下平台可依靠设置在其上的下球铰球头实现旋转角度调节。The upper end of the height adjustment mechanism is fixedly connected to the lower end of the trolley mechanism of the lifting device, the lower end of the height adjustment mechanism is fixedly connected to the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected to the center position of the top surface of the upper platform; the rigid connecting rod The upper end is fixedly connected to the center of the bottom surface of the upper platform. The lower end of the rigid connecting rod is equipped with a lower spherical hinge ball head. The lower spherical hinge ball head at the lower end of the rigid connecting rod is built into the lower platform. The rigid connecting rod passes through the lower spherical hinge ball head. The lower platform provides a rigid support, and the lower platform can realize rotation angle adjustment by relying on the lower ball hinge ball head provided on it.

上平台和下平台均是正方形结构,上平台的内部四个角的位置各设有一升降电机;四条角度调节钢索的下端分别连接下平台的上表面的四个端角,其上端连接与其对应的上平台内的升降电机的输出轴,四条角度调节钢索的上均设置有拉力传感器;拉力传感器用于监测角度调节钢索所受到的拉力大小;在角度调节钢索驱动过程中,若拉力传感器的数值超过第一阈值,则与这一角度调节钢索对应的升降电机将降低转速,若拉力传感器的数值超过第二阈值,则与这一角度调节钢索对应的升降电机将立即停机,第二阈值大于第一阈值。Both the upper platform and the lower platform are square structures. Each of the four inner corners of the upper platform is equipped with a lifting motor; the lower ends of the four angle adjustment cables are respectively connected to the four end corners of the upper surface of the lower platform, and their upper ends are connected to their corresponding The output shaft of the lifting motor in the upper platform and the four angle adjustment cables are equipped with tension sensors; the tension sensors are used to monitor the amount of tension exerted by the angle adjustment cables; during the driving process of the angle adjustment cables, if the tension If the value of the sensor exceeds the first threshold, the lift motor corresponding to the angle adjustment cable will reduce its speed. If the value of the tension sensor exceeds the second threshold, the lift motor corresponding to the angle adjustment cable will stop immediately. The second threshold is greater than the first threshold.

在上平台的下表面设有CCD相机,在下平台的上表面设有与CCD相机相对的靶标尺,在下平台上还设置有水平仪;CCD相机、靶标尺和水平仪组成摇摆角度检测装置,实现下平台的摇摆角度检测。A CCD camera is provided on the lower surface of the upper platform, a target ruler opposite to the CCD camera is provided on the upper surface of the lower platform, and a level is also provided on the lower platform; the CCD camera, target ruler and level form a swing angle detection device to realize the lower platform Swing angle detection.

下平台的下表面阵列式地设置有若干T型槽和螺纹孔,用于固定装夹吊装物体的专用吊具,专用吊具用于确定吊装物体的初始位姿。The lower surface of the lower platform is provided with a number of T-shaped slots and threaded holes in an array, which are used to fix special spreaders for clamping and hoisting objects. The special spreaders are used to determine the initial posture of the hoisted objects.

优选地,靶标尺为等腰直角三角形,其上共设置有四个靶标,靶标之间的距离已知,斜边上等间隔设置有三个靶标,而每个直角边上有两个靶标。Preferably, the target ruler is an isosceles right triangle, with a total of four targets arranged on it. The distance between the targets is known. Three targets are arranged at equal intervals on the hypotenuse, and there are two targets on each right-angled side.

优选地,高度调节机构为液压油缸、气缸或电动推杆。Preferably, the height adjustment mechanism is a hydraulic cylinder, a pneumatic cylinder or an electric push rod.

优选地,旋转机构为电动转台。Preferably, the rotating mechanism is an electric turntable.

优选地,在刚性连杆的中部偏下位置设置四个钢索导向机构,角度调节钢索穿过钢索导向机构后连接与其对应的上平台内的升降电机的输出轴。Preferably, four cable guide mechanisms are provided at the lower middle position of the rigid connecting rod. The angle adjustment cable passes through the cable guide mechanism and is connected to the output shaft of the corresponding lifting motor in the upper platform.

优选地,钢索导向机构为转轴固定在刚性连杆的中部偏下位置的导向滑轮。Preferably, the cable guide mechanism is a guide pulley with a rotating shaft fixed at a lower middle position of the rigid link.

优选地,在上平台的下表面设置有导向滑轮,为角度调节钢索调节方向。Preferably, a guide pulley is provided on the lower surface of the upper platform to adjust the direction of the angle adjustment cable.

另一方面,本申请还公开一种具有摇摆角度检测装置的起重机吊具,包括:On the other hand, this application also discloses a crane spreader with a swing angle detection device, including:

高度调节机构,旋转机构,上平台,刚性连杆,四条角度调节钢索,四个升降电机,下平台,CCD相机,投射器和水平仪。Height adjustment mechanism, rotating mechanism, upper platform, rigid link, four angle adjustment cables, four lifting motors, lower platform, CCD camera, projector and level.

高度调节机构的上端与起重装置的小车机构的下端固定连接,高度调节机构的下端固定连接旋转机构的固定部,旋转机构的旋转部固定连接上平台的顶面的中心位置;刚性连杆与上平台的中心位置通过刚性连杆上端设置的上球铰球头连接,刚性连杆的上球铰球头内置在上平台内,刚性连杆下端与下平台的上表面中心位置固定连接,刚性连杆为下平台提供一刚性支撑,且下平台可通过上球铰球头实现旋转角度调节。The upper end of the height adjustment mechanism is fixedly connected to the lower end of the trolley mechanism of the lifting device, the lower end of the height adjustment mechanism is fixedly connected to the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected to the center position of the top surface of the upper platform; the rigid connecting rod is connected to The center position of the upper platform is connected through an upper spherical hinge ball head provided at the upper end of the rigid connecting rod. The upper spherical hinge ball head of the rigid connecting rod is built into the upper platform. The lower end of the rigid connecting rod is fixedly connected to the center position of the upper surface of the lower platform. The rigid connecting rod is The connecting rod provides a rigid support for the lower platform, and the rotation angle of the lower platform can be adjusted through the upper ball joint.

上平台和下平台均是正方形结构,上平台的内部四个角的位置各设有一升降电机;四条角度调节钢索的下端分别连接下平台的上表面的四个端角,在刚性连杆的中部偏下位置设置了四个钢索导向机构,角度调节钢索穿过钢索导向机构后连接与其对应的上平台内的升降电机的输出轴;四条角度调节钢索通过四个升降电机的驱动可以灵活实现下平台的角度的调节;四条角度调节钢索的上均设置有拉力传感器。Both the upper platform and the lower platform are square structures. Each of the four internal corners of the upper platform is equipped with a lifting motor; the lower ends of the four angle adjustment cables are respectively connected to the four end corners of the upper surface of the lower platform, and are connected to the rigid connecting rods. Four steel cable guide mechanisms are set at the lower part of the middle. The angle adjustment cables pass through the cable guide mechanisms and are connected to the output shaft of the corresponding lifting motor in the upper platform; the four angle adjustment cables are driven by the four lifting motors. The angle of the lower platform can be adjusted flexibly; the four angle adjustment cables are equipped with tension sensors.

上平台的内部偏下位置形成有容置上球铰球头的空腔,在空腔下部形成有上大下小的锥形孔;在空腔的上部形成有圆柱形腔体,在腔体的上部,上平台上壁的内侧固定设有CCD相机和投射器;上球铰球头的顶部切除一部分形成与下平台平行的靶标面,切除部分的高度不大于球体直径的,投射器可在靶标面上投射靶标点。A cavity for accommodating the upper ball hinge ball head is formed in the lower part of the upper platform, and a tapered hole with a larger upper and smaller size is formed in the lower part of the cavity; a cylindrical cavity is formed in the upper part of the cavity, and a cylindrical cavity is formed in the lower part of the cavity. On the upper part, a CCD camera and a projector are fixed on the inner side of the upper wall of the upper platform; a part of the top of the upper spherical hinge ball head is cut off to form a target surface parallel to the lower platform. If the height of the cut-off part is not greater than the diameter of the sphere, the projector can be Project target points on the target surface.

CCD相机、投射器和水平仪组成摇摆角度检测装置,实现下平台的摇摆角度检测。The CCD camera, projector and level form a swing angle detection device to realize the swing angle detection of the lower platform.

优选地,在驱动过程中,若拉力传感器的数值超过第一阈值,则与这一角度调节钢索对应的升降电机将降低转速运行,若拉力传感器的数值超过第二阈值,则与这一角度调节钢索对应的升降电机将立即停机,第二阈值大于第一阈值。Preferably, during the driving process, if the value of the tension sensor exceeds the first threshold, the lifting motor corresponding to this angle adjustment cable will operate at a reduced speed; if the value of the tension sensor exceeds the second threshold, the lift motor corresponding to this angle adjustment cable will operate at a reduced speed. The lifting motor corresponding to the adjustment cable will stop immediately, and the second threshold is greater than the first threshold.

下平台的下表面阵列式地设置有若干T型槽和螺纹孔,用于固定装夹吊装物体的专用吊具;专用吊具保证吊装物体的初始位姿。The lower surface of the lower platform is provided with a number of T-shaped slots and threaded holes in an array, which are used to fix special slings for clamping and hoisting objects; the special slings ensure the initial posture of the hoisted objects.

与现有技术相比,本申请具有如下优点。Compared with the prior art, this application has the following advantages.

(1)现有技术的起重机吊具一般都是针对特定产品设计的刚性吊具或普通的钢索柔性吊具,并不具备姿态调整功能,本申请在上平台和下平台之间设计了带有球铰球头的刚性连杆,刚性连杆在提供刚性支撑的同时,还可以实现下平台的姿态调整,从而可以带动固定在其下方的待吊装物体进行姿态调整。(1) Crane spreaders in the prior art are generally rigid spreaders designed for specific products or ordinary wire rope flexible spreaders, and do not have the function of attitude adjustment. In this application, a belt is designed between the upper platform and the lower platform. There is a rigid connecting rod with a spherical hinge ball head. The rigid connecting rod not only provides rigid support, but also can adjust the attitude of the lower platform, thereby driving the object to be hoisted fixed below it to adjust the attitude.

(2)通过设置高度调节机构,旋转机构,刚性连杆,四条角度调节钢索可以实现多个维度的角度和位移的调整,可以高效地调整待吊装的物体的位姿,从而实现快速总装。(2) By setting up a height adjustment mechanism, a rotating mechanism, a rigid connecting rod, and four angle adjustment cables, angle and displacement adjustments in multiple dimensions can be achieved, and the posture of the object to be hoisted can be adjusted efficiently, thereby achieving rapid assembly.

(3)吊具通过结合单目视觉的位姿的检测装置,可以实现位姿的及时检测,并反馈控制升降电机进行位姿调整;摇摆角度检测方案相比现有的其它惯性元件(陀螺仪和/或加速度计)方案或使用其它光学角度传感器方案有效降低了成本,在满足精度要求的前提下取得了很好的应用效果,原理简单直观,很适合现场工人使用。(3) The spreader can realize timely detection of posture by combining the posture detection device with monocular vision, and feedback controls the lifting motor to adjust the posture; the swing angle detection scheme is compared with other existing inertial components (gyros). and/or accelerometer) solution or the use of other optical angle sensor solutions effectively reduces costs and achieves good application results while meeting accuracy requirements. The principle is simple and intuitive, and is very suitable for use by on-site workers.

(4)在刚性连杆的中部偏下位置设置了四个钢索导向机构,相当于将钢索的固定端的位置降低,可以有效地提高下平台的稳定性。(4) Four steel cable guide mechanisms are installed at the lower middle part of the rigid connecting rod, which is equivalent to lowering the position of the fixed end of the steel cable, which can effectively improve the stability of the lower platform.

(5)CCD相机和投射器设置在上平台内的技术方案可以有效避免靶标尺的固定变形以及其自身热膨胀系数的影响,CCD相机设置在腔体内部,可以有效避免外界环境对于CCD相机的干扰;进一步提高了吊具的集成度和可靠性,取得了更好的技术效果。(5) The technical solution of placing the CCD camera and projector in the upper platform can effectively avoid the fixed deformation of the target ruler and the influence of its own thermal expansion coefficient. The CCD camera is placed inside the cavity, which can effectively avoid the interference of the external environment on the CCD camera. ;Further improve the integration and reliability of the spreader and achieve better technical results.

附图说明Description of drawings

图1所示为一种具有摇摆角度检测装置的起重机吊具的结构示意图。Figure 1 shows a schematic structural diagram of a crane spreader with a swing angle detection device.

图2所示为靶标尺的结构示意图。Figure 2 shows the structural diagram of the target ruler.

图3所示为图1所示的具有摇摆角度检测装置的起重机吊具的另一实施例的结构示意图。FIG. 3 is a schematic structural diagram of another embodiment of the crane spreader with a swing angle detection device shown in FIG. 1 .

图4所示为一种具有摇摆角度检测装置的起重机吊具的另外一个实施例的结构示意图。Figure 4 shows a schematic structural diagram of another embodiment of a crane spreader with a swing angle detection device.

图5所示为上球铰结构以及摇摆角度检测装置的结构示意图。Figure 5 shows a schematic structural diagram of the upper spherical hinge structure and the swing angle detection device.

图6所示为控制单元的工作示意图。Figure 6 shows the working diagram of the control unit.

附图标记如下。The reference numbers are as follows.

1-高度调节机构,2-旋转机构,3-上平台,4-刚性连杆,5-下平台,6-角度调节钢索,7-升降电机,8-拉力传感器,9-CCD相机,10-靶标尺,11-水平仪,12-T型槽,13-钢索导向机构,14下球铰球头,15-上球铰球头,16-投射器,31-锥孔,32-腔体,151-靶标面。1-height adjustment mechanism, 2-rotating mechanism, 3-upper platform, 4-rigid link, 5-lower platform, 6-angle adjustment cable, 7-lift motor, 8-tension sensor, 9-CCD camera, 10 -Target ruler, 11-level, 12-T-shaped slot, 13-cable guide mechanism, 14 lower ball hinge ball head, 15-upper ball hinge ball head, 16-projector, 31-cone hole, 32-cavity , 151-target surface.

具体实施方式Detailed ways

下面结合附图和实施例对本申请 作进一步的详细说明。可以理解的是,此处所描述的具体实施例仅仅用于解释本申请,而非对本申请的限定。另外需要说明的是,为了便于描述,附图中仅示出了与本申请相关的部分而非全部。The present application will be further described in detail below in conjunction with the accompanying drawings and examples. It can be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for convenience of description, only some but not all parts relevant to the present application are shown in the drawings.

实施例一Embodiment 1

图1所示,一种具有摇摆角度检测装置的起重机吊具100,包括:高度调节机构1,旋转机构2,上平台3,刚性连杆4,四条角度调节钢索6,四个升降电机7,下平台5,CCD相机9,靶标尺10,水平仪11。As shown in Figure 1, a crane spreader 100 with a swing angle detection device includes: a height adjustment mechanism 1, a rotating mechanism 2, an upper platform 3, a rigid connecting rod 4, four angle adjustment cables 6, and four lifting motors 7 , lower platform 5, CCD camera 9, target ruler 10, level 11.

高度调节机构1的上端与起重装置的小车机构的下端固定连接,高度调节机构1的下端固定连接旋转机构2的固定部,旋转机构2的旋转部固定连接上平台3的顶面的中心位置;刚性连杆4的上端固定连接上平台3的底面的中心位置,刚性连杆4的下端设有下球铰球头14,刚性连杆4下端的下球铰球头14内置于下平台5内,刚性连杆4通过下球铰球头14为下平台5提供一刚性支撑,且下平台5可依靠设置在其上的下球铰球头14实现旋转角度调节。The upper end of the height adjustment mechanism 1 is fixedly connected to the lower end of the trolley mechanism of the lifting device, the lower end of the height adjustment mechanism 1 is fixedly connected to the fixed part of the rotating mechanism 2, and the rotating part of the rotating mechanism 2 is fixedly connected to the center position of the top surface of the upper platform 3 The upper end of the rigid connecting rod 4 is fixedly connected to the center of the bottom surface of the upper platform 3. The lower end of the rigid connecting rod 4 is provided with a lower ball hinge ball head 14. The lower ball hinge ball head 14 at the lower end of the rigid connecting rod 4 is built into the lower platform 5. Inside, the rigid connecting rod 4 provides a rigid support for the lower platform 5 through the lower spherical hinge ball head 14, and the lower platform 5 can realize rotation angle adjustment by relying on the lower spherical hinge ball head 14 provided thereon.

上平台3和下平台5均是具有一定厚度的正方形结构,上平台3的内部4个角的位置各设有一升降电机7;四条角度调节钢索6的下端分别连接下平台5的上表面的四个端角,其上端连接与其对应的上平台3内的升降电机7的输出轴。四条角度调节钢索6通过四个升降电机7的驱动可以灵活实现下平台5的角度的调节。四条角度调节钢索6的上均设置有拉力传感器8,拉力传感器8用于监测角度调节钢索6所受到的拉力大小,在调节下平台5的角度过程中或者保持下平台5的姿态过程中保证角度调节钢索6的拉力在一定范围内,以免造成危险,在驱动过程中,若拉力传感器8的数值超过第一阈值,则与这一角度调节钢索6对应的升降电机7将降低转速,若拉力传感器8的数值超过第二阈值,则与这一角度调节钢索6对应的升降电机7将立即停机,第二阈值大于第一阈值。Both the upper platform 3 and the lower platform 5 are square structures with a certain thickness. Each of the four internal corners of the upper platform 3 is provided with a lifting motor 7; the lower ends of the four angle adjustment cables 6 are respectively connected to the upper surface of the lower platform 5. The upper ends of the four end corners are connected to the output shafts of the corresponding lifting motors 7 in the upper platform 3 . The four angle adjustment cables 6 can flexibly adjust the angle of the lower platform 5 through the driving of the four lifting motors 7 . The four angle-adjusting steel cables 6 are each provided with tension sensors 8. The tension sensors 8 are used to monitor the amount of tension exerted by the angle-adjusting steel cables 6, during the process of adjusting the angle of the lower platform 5 or maintaining the posture of the lower platform 5. Ensure that the tension of the angle adjustment cable 6 is within a certain range to avoid danger. During the driving process, if the value of the tension sensor 8 exceeds the first threshold, the lift motor 7 corresponding to the angle adjustment cable 6 will reduce the speed. , if the value of the tension sensor 8 exceeds the second threshold, the lifting motor 7 corresponding to this angle adjustment cable 6 will stop immediately, and the second threshold is greater than the first threshold.

在上平台3的下表面设有CCD相机9,在下平台5的上表面设有靶标尺10,在下平台5上还设置有水平仪11;CCD相机9、靶标尺10和水平仪11构成了本申请所述的摇摆角度检测装置,可以共同实现下平台5的摇摆角度检测。水平仪11用于检测下平台5的水平状态,在CCD相机9的标定过程中起到重要作用;CCD相机9和靶标尺10可以实现下平台5的摇摆角度检测,具体过程后续会详细介绍。A CCD camera 9 is provided on the lower surface of the upper platform 3, a target scale 10 is provided on the upper surface of the lower platform 5, and a level 11 is also provided on the lower platform 5; the CCD camera 9, the target scale 10 and the level 11 constitute the components of this application. The above-described swing angle detection device can jointly realize the swing angle detection of the lower platform 5. The level 11 is used to detect the horizontal state of the lower platform 5 and plays an important role in the calibration process of the CCD camera 9; the CCD camera 9 and the target ruler 10 can detect the swing angle of the lower platform 5. The specific process will be introduced in detail later.

下平台5的下表面阵列式地设置有若干T型槽12和螺纹孔,可用于固定装夹吊装物体的专用吊具,专用吊具的安装位置可以根据吊装物体的具体形状和特点而灵活选择。专用吊具可以保证吊装物体的初始位姿。The lower surface of the lower platform 5 is provided with a number of T-shaped slots 12 and threaded holes in an array, which can be used to fix special spreaders for clamping hoisted objects. The installation position of the special spreaders can be flexibly selected according to the specific shape and characteristics of the hoisted objects. . Special spreaders can ensure the initial position of the hoisted object.

如图2所示,靶标尺10为等腰直角三角形形状,其上共设置有四个靶标,靶标之间的距离已知,其中斜边上等间隔设置有三个靶标,而每个直角边上有两个靶标,因为起重吊具的角度调节精度要求不是特别高,因此不需要设置特别多的靶标点来增加解算的精度,但是重点关注的X轴方向、Y轴方向以及下平台5的对角线方向均需考虑,因此选择了设置有四个靶标的等腰直角三角形形状,这样既可以降低计算量,减小控制单元的负担,又能够提高计算的速度,同时也覆盖了所有关注的空间信息。靶标尺10采用碳纤维材料制作,可以有效减小厂房环境温度对靶标尺的影响,基本消除热膨胀系数的影响。靶标尺10通过压板贴靠固定在下平台5的上表面,与CCD相机9的位置相对。靶标尺10仅有一个固定点,这样在可以尽量避免多个固定点造成的靶标尺10形变影响位姿测量精度。As shown in Figure 2, the target ruler 10 is in the shape of an isosceles right triangle, with a total of four targets arranged on it. The distance between the targets is known. Three targets are arranged at equal intervals on the hypotenuse, and on each right-angled side There are two targets. Because the angle adjustment accuracy requirements of the lifting spreader are not particularly high, there is no need to set up a particularly large number of target points to increase the accuracy of the solution. However, the focus is on the X-axis direction, Y-axis direction and the lower platform 5. The diagonal directions of the attention to spatial information. The target ruler 10 is made of carbon fiber material, which can effectively reduce the influence of the factory environment temperature on the target ruler and basically eliminate the influence of the thermal expansion coefficient. The target ruler 10 is attached to and fixed on the upper surface of the lower platform 5 through a pressure plate, opposite to the position of the CCD camera 9 . The target ruler 10 has only one fixed point, so that the deformation of the target ruler 10 caused by multiple fixed points can be avoided as much as possible to affect the posture measurement accuracy.

优选地,还可以提供至少一个与靶标尺10上的四个靶标异面的靶标点,以便提供更多的空间信息,提高测量精度。Preferably, at least one target point that is out of the same plane as the four targets on the target scale 10 can be provided to provide more spatial information and improve measurement accuracy.

实施例中,相机的最大测量距离为1米,相机的分辨率为1292pixel×964pixel,像素尺寸为3.75μm×3.75μm,镜头焦距为3.6mm。靶标点间的距离在10cm-20cm之间。In the embodiment, the maximum measurement distance of the camera is 1 meter, the resolution of the camera is 1292pixel×964pixel, the pixel size is 3.75μm×3.75μm, and the lens focal length is 3.6mm. The distance between target points is between 10cm-20cm.

具有摇摆角度检测装置的起重机吊具100的工作过程如下所述。The working process of the crane spreader 100 with the swing angle detection device is as follows.

(1)使用专用夹具将待吊装物体固定安装在下平台5的下表面上;并通过水平仪11检测下平台5的水平初始状态,通过四个升降电机7驱动角度调节钢索6来调节下平台5的水平状态达到预期范围;在水平初始状态下,可以为后续的调整提供一个参考基准。(1) Use a special fixture to fix the object to be hoisted on the lower surface of the lower platform 5; detect the initial horizontal state of the lower platform 5 through the level 11, and adjust the lower platform 5 by driving the angle adjustment cable 6 through the four lifting motors 7 The horizontal state reaches the expected range; in the initial horizontal state, it can provide a reference benchmark for subsequent adjustments.

(2)在下平台5水平状态下CCD相机9采集靶标尺10的图像;根据待吊装物体总装的参数需求解算出本申请中四条角度调节钢索6对应的升降位移量(可以将这一位移量转换为升降电机7的转动圈数,也可在升降电机驱动角度调节钢索6通过位移传感器监测这一位移量)。(2) When the lower platform 5 is horizontal, the CCD camera 9 collects the image of the target ruler 10; according to the parameter requirements of the final assembly of the object to be hoisted, the corresponding lifting displacements of the four angle adjustment cables 6 in this application are calculated (this displacement can be Converted into the number of rotations of the lifting motor 7, this displacement can also be monitored through a displacement sensor when the lifting motor driving angle is adjusted by the steel cable 6).

(3)参见图6,控制单元控制四个升降电机7协同运动,带动下平台5绕下球铰球头14旋转;此时,设置在四根角度调节钢索6上的四个拉力传感器8监测角度调节钢索6拉力(若拉力传感器8的数值超过第一阈值,则与这一角度调节钢索6对应的升降电机7将降低转速,若拉力传感器8的数值超过第二阈值,则与这一角度调节钢索6对应的升降电机7将立即停机),与此同时CCD相机9采集不同位姿的靶标尺10的图像,控制单元提取靶标尺10的图像、提取其上的特征点、标定CCD相机内参并解算位姿。(3) Referring to Figure 6, the control unit controls the coordinated movement of the four lifting motors 7 to drive the lower platform 5 to rotate around the lower spherical hinge ball head 14; at this time, the four tension sensors 8 provided on the four angle adjustment cables 6 Monitor the tension of the angle adjustment cable 6 (if the value of the tension sensor 8 exceeds the first threshold, the lifting motor 7 corresponding to the angle adjustment cable 6 will reduce the rotation speed. If the value of the tension sensor 8 exceeds the second threshold, then the The lifting motor 7 corresponding to this angle adjustment cable 6 will stop immediately). At the same time, the CCD camera 9 collects images of the target ruler 10 in different postures. The control unit extracts the image of the target ruler 10 and extracts the feature points on it. Calibrate the internal parameters of the CCD camera and solve the pose.

(4)若解算出的位姿(即摇摆角度)与预期值的误差在阈值范围内,则小车机构带动待吊装物体运动至与之总装的工件处,通过高度调节机构1和旋转机构2实现待吊装物体高度和绕竖直方向的角度调整,最终实现总装;若解算出的位姿(即摇摆角度)与预期值的误差超出阈值范围,则重新解算四条角度调节钢索6对应的升降位移量,并执行步骤(3)。(4) If the error between the calculated posture (i.e., swing angle) and the expected value is within the threshold range, the trolley mechanism drives the object to be hoisted to move to the workpiece for final assembly, which is achieved through the height adjustment mechanism 1 and the rotation mechanism 2 The height of the object to be hoisted and the angle around the vertical direction are adjusted, and the final assembly is finally achieved; if the error between the calculated posture (i.e., the swing angle) and the expected value exceeds the threshold range, the corresponding lifting and lowering of the four angle adjustment cables 6 will be recalculated displacement, and perform step (3).

在步骤(3)中,控制单元控制四个升降电机7协同运动,优选地,可先控制处于一对角方向上的两根角度调节钢索6升降,再控制另一对角方向上的两根角度调节钢索6升降。In step (3), the control unit controls the coordinated movement of the four lifting motors 7. Preferably, it can first control the lifting and lowering of the two angle adjustment cables 6 in one diagonal direction, and then control the two angle adjustment cables 6 in the other diagonal direction. The root angle adjustment steel cable 6 lifts.

上述实施例中位姿解算算法可以选用现有技术中任一种成熟的视觉解析算法,关于视觉位姿测量解算算法,相关研究早在上世纪八十年代就已开启,利用图像信息解算空间位置和姿态的算法很多,尤其是基于特征点的单目视觉位姿解算方法,本领域技术人员可根据实际测量精度和计算能力选择适合的解算算法。The pose calculation algorithm in the above embodiment can use any mature visual analysis algorithm in the existing technology. Regarding the visual pose measurement and resolution algorithm, relevant research has been started as early as the 1980s, using image information to solve the problem. There are many algorithms for calculating spatial position and attitude, especially the monocular visual pose calculation method based on feature points. Those skilled in the art can choose a suitable calculation algorithm based on the actual measurement accuracy and computing power.

上述实施例中的高度调节机构1可以为液压装置、气动装置或电动伸缩装置,例如液压油缸、气缸或电动推杆。The height adjustment mechanism 1 in the above embodiment can be a hydraulic device, a pneumatic device or an electric telescopic device, such as a hydraulic cylinder, a pneumatic cylinder or an electric push rod.

上述实施例中的旋转机构2可以为电动转台。The rotating mechanism 2 in the above embodiment may be an electric turntable.

如图6所示,水平仪11、四个拉力传感器8、CCD相机9均与控制单元电连接,控制单元会根据传感器信号或外部指令向高度调节机构1、四个升降电机7和旋转机构2发出控制指令。As shown in Figure 6, the level 11, the four tension sensors 8, and the CCD camera 9 are all electrically connected to the control unit. The control unit will send signals to the height adjustment mechanism 1, the four lifting motors 7, and the rotating mechanism 2 based on sensor signals or external instructions. Control instruction.

实施例一中的具有摇摆角度检测装置的起重机吊具100通过设置高度调节机构1,旋转机构2,刚性连杆4,四条角度调节钢索6可以实现多个维度的角度和位移的调整,可以高效地调整待吊装的物体的位姿,从而实现快速总装;通过单目视觉的位姿的检测,可以实现位姿的及时检测,并反馈控制升降电机进行位姿调整。此摇摆角度检测方案相比现有的其它惯性元件方案或使用其它光学角度传感器方案(如光栅码盘)有效降低了成本,在满足精度要求的前提下取得了很好的应用效果,原理简单直观,很适合现场工人使用,吊装用时由原来的一天可缩短至半小时以内。The crane spreader 100 with the swing angle detection device in the first embodiment can realize the adjustment of angles and displacements in multiple dimensions by setting the height adjustment mechanism 1, the rotation mechanism 2, the rigid connecting rod 4, and the four angle adjustment cables 6. Efficiently adjust the posture of the object to be hoisted to achieve rapid assembly; through the detection of posture through monocular vision, timely detection of posture can be achieved, and feedback control of the lifting motor can be performed for posture adjustment. Compared with other existing inertial element solutions or other optical angle sensor solutions (such as grating code disks), this swing angle detection solution effectively reduces costs and achieves good application results while meeting accuracy requirements. The principle is simple and intuitive , very suitable for on-site workers, and the hoisting time can be shortened from the original one day to less than half an hour.

实施例二Embodiment 2

实施例二相比于实施例一,针对下平台5的平台稳定性进行了进一步改进。Compared with the first embodiment, the second embodiment further improves the platform stability of the lower platform 5 .

实施例一中四条角度调节钢索6的下端分别连接下平台5的上表面的四个端角,其上端连接与其对应的上平台3内的升降电机7的输出轴,这样的设计便于升降电机通过角度调节钢索6调节下平台5角度,但是下平台5的稳定性较差。In the first embodiment, the lower ends of the four angle adjustment cables 6 are respectively connected to the four end corners of the upper surface of the lower platform 5, and their upper ends are connected to the output shafts of the corresponding lifting motors 7 in the upper platform 3. This design facilitates the lifting of the motor. The angle of the lower platform 5 is adjusted through the angle adjustment cable 6, but the stability of the lower platform 5 is poor.

因此在实施例二中,如图3所示,一种具有摇摆角度检测装置的起重机吊具200,在刚性连杆4的中部偏下位置设置了四个钢索导向机构13,角度调节钢索6穿过钢索导向机构13后连接与其对应的上平台3内的升降电机7的输出轴,这相当于将钢索的固定端的位置降低,可以有效地提高下平台5的稳定性,通过有限元软件分析可知,同等条件下,将钢索导向机构13设置在刚性连杆4高度的1/3至1/2位置,下平台5的振动的幅值将降低一半以上。Therefore, in the second embodiment, as shown in Figure 3, a crane spreader 200 with a swing angle detection device is provided with four wire rope guide mechanisms 13 at the lower middle position of the rigid connecting rod 4, and the angle adjustment wire ropes are 6. Pass through the steel cable guide mechanism 13 and then connect it to the output shaft of the corresponding lifting motor 7 in the upper platform 3. This is equivalent to lowering the position of the fixed end of the steel cable, which can effectively improve the stability of the lower platform 5. By limiting Meta-software analysis shows that under the same conditions, if the cable guide mechanism 13 is set at 1/3 to 1/2 of the height of the rigid link 4, the amplitude of the vibration of the lower platform 5 will be reduced by more than half.

钢索导向机构13可以为导向的圆环,优选地,钢索导向机构13为转轴固定在刚性连杆4的中部偏下位置的导向滑轮。The cable guide mechanism 13 can be a guide ring. Preferably, the cable guide mechanism 13 is a guide pulley with a rotating shaft fixed at a lower middle position of the rigid connecting rod 4 .

优选地,在上平台3的下表面也设置有导向滑轮,为角度调节钢索6调节方向。Preferably, a guide pulley is also provided on the lower surface of the upper platform 3 to adjust the direction of the angle adjustment cable 6 .

实施例二中其余技术方案与实施例一相同。The remaining technical solutions in the second embodiment are the same as those in the first embodiment.

实施例三Embodiment 3

经过实施例二对下平台5的平台稳定性改善后,角度调节钢索6先经过钢索导向机构13,在经过上平台3下表面设置的导向滑轮连接升降电机7,有效提升了下平台5的平台稳定性,但是四条角度调节钢索6向刚性连杆4聚拢,也导致CCD相机的视场受到影响,为了解决这一问题,也为了进一步提升装置的集成度和可靠性,得到了实施例三的技术方案。After the platform stability of the lower platform 5 is improved in the second embodiment, the angle adjustment cable 6 first passes through the cable guide mechanism 13, and then passes through the guide pulley provided on the lower surface of the upper platform 3 to connect to the lifting motor 7, effectively lifting the lower platform 5 platform stability, but the four angle adjustment steel cables 6 converge towards the rigid link 4, which also causes the field of view of the CCD camera to be affected. In order to solve this problem and further improve the integration and reliability of the device, this method has been implemented The technical solution of Example 3.

图4所示,一种具有摇摆角度检测装置的起重机吊具300,包括:高度调节机构1,旋转机构2,上平台3,刚性连杆4,四条角度调节钢索6,四个升降电机7,下平台5,CCD相机9,投射器16和水平仪11。As shown in Figure 4, a crane spreader 300 with a swing angle detection device includes: a height adjustment mechanism 1, a rotating mechanism 2, an upper platform 3, a rigid connecting rod 4, four angle adjustment cables 6, and four lifting motors 7 , lower platform 5, CCD camera 9, projector 16 and level 11.

高度调节机构1的上端与起重装置的小车机构的下端固定连接,高度调节机构1的下端固定连接旋转机构2的固定部旋转机构2的旋转部固定连接上平台3的顶面的中心位置;刚性连杆4与上平台3的中心位置通过刚性连杆4上端设置的上球铰球头15连接,刚性连杆4的上球铰球头15内置在上平台3内,刚性连杆4下端与下平台5的上表面中心位置固定连接,刚性连杆4为下平台5提供一刚性支撑,且下平台5可通过上球铰球头15实现旋转角度调节。The upper end of the height adjustment mechanism 1 is fixedly connected to the lower end of the trolley mechanism of the lifting device. The lower end of the height adjustment mechanism 1 is fixedly connected to the fixed part of the rotating mechanism 2. The rotating part of the rotating mechanism 2 is fixedly connected to the center position of the top surface of the upper platform 3; The center positions of the rigid connecting rod 4 and the upper platform 3 are connected through the upper spherical hinge ball head 15 provided at the upper end of the rigid connecting rod 4. The upper spherical hinge ball head 15 of the rigid connecting rod 4 is built in the upper platform 3, and the lower end of the rigid connecting rod 4 Fixedly connected to the center position of the upper surface of the lower platform 5 , the rigid connecting rod 4 provides a rigid support for the lower platform 5 , and the lower platform 5 can realize rotation angle adjustment through the upper ball hinge ball head 15 .

上平台3和下平台5均是具有一定厚度的正方形结构,上平台3的内部4个角的位置各设有一升降电机7;四条角度调节钢索6的下端分别连接下平台5的上表面的四个端角,在刚性连杆4的中部偏下位置设置了四个钢索导向机构13,角度调节钢索6穿过钢索导向机构13后连接与其对应的上平台3内的升降电机7的输出轴。四条角度调节钢索6通过四个升降电机7的驱动可以灵活实现下平台5的角度的调节。四条角度调节钢索6的上均设置有拉力传感器8,拉力传感器8用于监测角度调节钢索6所收到的拉力大小,在调节下平台5的角度过程中或者保持下平台5的姿态过程中保证角度调节钢索6的拉力在一定范围内,以免造成危险,在驱动过程中,若拉力传感器8的数值超过第一阈值,则与这一角度调节钢索6对应的升降电机7将降低转速,若拉力传感器8的数值超过第二阈值,则与这一角度调节钢索6对应的升降电机7将立即停机,第二阈值大于第一阈值。Both the upper platform 3 and the lower platform 5 are square structures with a certain thickness. Each of the four internal corners of the upper platform 3 is provided with a lifting motor 7; the lower ends of the four angle adjustment cables 6 are respectively connected to the upper surface of the lower platform 5. At the four end corners, four cable guide mechanisms 13 are provided at the lower middle position of the rigid connecting rod 4. The angle adjustment cable 6 passes through the cable guide mechanism 13 and is then connected to the corresponding lifting motor 7 in the upper platform 3. of the output shaft. The four angle adjustment cables 6 can flexibly adjust the angle of the lower platform 5 through the driving of the four lifting motors 7 . The four angle adjustment cables 6 are each provided with a tension sensor 8. The tension sensor 8 is used to monitor the amount of tension received by the angle adjustment cable 6, during the process of adjusting the angle of the lower platform 5 or maintaining the posture of the lower platform 5 Ensure that the tension of the angle adjustment cable 6 is within a certain range to avoid danger. During the driving process, if the value of the tension sensor 8 exceeds the first threshold, the lift motor 7 corresponding to the angle adjustment cable 6 will decrease rotation speed, if the value of the tension sensor 8 exceeds the second threshold, the lifting motor 7 corresponding to this angle adjustment cable 6 will stop immediately, and the second threshold is greater than the first threshold.

如图5所示为上球铰结构以及摇摆角度检测装置的结构示意图。上平台3的内部偏下位置形成有容置上球铰球头15的空腔,在空腔下部形成有上大下小的锥孔31,便于刚性连杆4运动而不会与上平台3发生干涉;在空腔的上部形成有圆柱形腔体32,在腔体32的上部,上平台3上壁的内侧固定设有CCD相机9和投射器16。上球铰球头15的顶部切除一部分形成与下平台5平行的靶标面151,切除部分的高度不大于球体直径的1/4,投射器16可在靶标面151上投射靶标点。Figure 5 shows a schematic structural diagram of the upper spherical hinge structure and the swing angle detection device. A cavity for accommodating the upper ball hinge ball head 15 is formed in the lower part of the upper platform 3. A tapered hole 31 with a larger upper part and a smaller lower part is formed in the lower part of the cavity to facilitate the movement of the rigid connecting rod 4 without interfering with the upper platform 3. Interference occurs; a cylindrical cavity 32 is formed in the upper part of the cavity. In the upper part of the cavity 32, a CCD camera 9 and a projector 16 are fixed on the inside of the upper wall of the upper platform 3. A portion of the top of the upper hinge ball head 15 is cut off to form a target surface 151 parallel to the lower platform 5. The height of the cut-off portion is not greater than 1/4 of the diameter of the sphere. The projector 16 can project target points on the target surface 151.

由于靶标面151的尺寸较小,而且采用了投射器16在靶标面151上投射靶标点,因此可以有效避免靶标尺的固定变形以及热膨胀系数的影响,而靶标面151与下平台5平行使其可以表征下平台5的位姿,CCD相机9设置在腔体32内部,可以有效避免外界环境对于CCD相机9的干扰(如角度调节钢索的遮挡以及外部粉尘污染等)。Since the size of the target surface 151 is small and the projector 16 is used to project the target point on the target surface 151, the fixed deformation of the target ruler and the influence of the thermal expansion coefficient can be effectively avoided, and the target surface 151 is parallel to the lower platform 5 so that The position and posture of the lower platform 5 can be characterized. The CCD camera 9 is set inside the cavity 32, which can effectively avoid interference from the external environment on the CCD camera 9 (such as the obstruction of the angle adjustment cable and external dust pollution, etc.).

在下平台5上还设置有水平仪11;CCD相机9、投射器16和水平仪11构成了本实施例所述的摇摆角度检测装置,可以共同实现下平台5的摇摆角度检测。水平仪11用于检测下平台5的水平状态。A level 11 is also provided on the lower platform 5; the CCD camera 9, the projector 16 and the level 11 constitute the swing angle detection device described in this embodiment, which can jointly realize the swing angle detection of the lower platform 5. The level 11 is used to detect the horizontal state of the lower platform 5 .

下平台5的下表面阵列式地设置有若干T型槽12和螺纹孔,可用于固定装夹吊装物体的专用吊具,专用吊具的安装位置可以根据吊装物体的具体形状和特点而灵活选择。专用吊具可以保证吊装物体的初始位姿。The lower surface of the lower platform 5 is provided with a number of T-shaped slots 12 and threaded holes in an array, which can be used to fix special spreaders for clamping hoisted objects. The installation position of the special spreaders can be flexibly selected according to the specific shape and characteristics of the hoisted objects. . Special spreaders can ensure the initial position of the hoisted object.

具有摇摆角度检测装置的起重机吊具300的工作过程如下所述。The working process of the crane spreader 300 with the swing angle detection device is as follows.

(1)使用专用夹具将待吊装物体固定安装在下平台5的下表面上;并通过水平仪11检测下平台5的水平初始状态,通过四个升降电机7驱动角度调节钢索6来调节下平台5的水平状态达到预期范围;在水平初始状态下,可以为后续的调整提供一个参考基准。(1) Use a special fixture to fix the object to be hoisted on the lower surface of the lower platform 5; detect the initial horizontal state of the lower platform 5 through the level 11, and adjust the lower platform 5 by driving the angle adjustment cable 6 through the four lifting motors 7 The horizontal state reaches the expected range; in the initial horizontal state, it can provide a reference benchmark for subsequent adjustments.

(2)在下平台5水平状态下CCD相机9采集投射器16投射在靶标面151的图像;根据待吊装物体总装的参数需求解算出四条角度调节钢索6对应的升降位移量(可以将这一位移量转换为升降电机7的转动圈数,也可在升降电机驱动角度调节钢索6通过位移传感器监测这一位移量)。(2) When the lower platform 5 is horizontal, the CCD camera 9 collects the image projected by the projector 16 on the target surface 151; according to the parameter requirements of the final assembly of the object to be hoisted, the corresponding lifting displacements of the four angle adjustment cables 6 are calculated (this can be The displacement amount is converted into the number of rotations of the lifting motor 7, and this displacement amount can also be monitored by the displacement sensor when the lifting motor drive angle adjustment cable 6 is used).

(3)参见图6,控制单元控制四个升降电机7协同运动,带动下平台5绕上球铰球头15旋转;此时,设置在四根角度调节钢索6上的四个拉力传感器8监测角度调节钢索6拉力(若拉力传感器8的数值超过第一阈值,则与这一角度调节钢索6对应的升降电机7将降低转速,若拉力传感器8的数值超过第二阈值,则与这一角度调节钢索6对应的升降电机7将立即停机),与此同时CCD相机9采集不同位姿的靶标面151的图像,控制单元提取靶标面151的图像、提取其上的特征点、标定CCD相机内参并解算位姿。(3) Referring to Figure 6, the control unit controls the coordinated movement of the four lifting motors 7 to drive the lower platform 5 to rotate around the upper spherical hinge ball head 15; at this time, the four tension sensors 8 provided on the four angle adjustment cables 6 Monitor the tension of the angle adjustment cable 6 (if the value of the tension sensor 8 exceeds the first threshold, the lifting motor 7 corresponding to the angle adjustment cable 6 will reduce the rotation speed. If the value of the tension sensor 8 exceeds the second threshold, then the The lifting motor 7 corresponding to this angle adjustment cable 6 will stop immediately). At the same time, the CCD camera 9 collects images of the target surface 151 in different postures. The control unit extracts the image of the target surface 151 and extracts the feature points on it. Calibrate the internal parameters of the CCD camera and solve the pose.

(4)若解算出的位姿(即摇摆角度)与预期值的误差在阈值范围内,则小车机构带动待吊装物体运动至与之总装的工件处,通过高度调节机构1和旋转机构2实现待吊装物体高度和绕竖直方向的角度调整,最终完成总装;若解算出的位姿(即摇摆角度)与预期值的误差超出阈值范围,则重新解算四条角度调节钢索6对应的升降位移量,并执行步骤(3)。(4) If the error between the calculated posture (i.e., swing angle) and the expected value is within the threshold range, the trolley mechanism drives the object to be hoisted to move to the workpiece for final assembly, which is achieved through the height adjustment mechanism 1 and the rotation mechanism 2 The height of the hoisted object and the angle around the vertical direction are adjusted, and the final assembly is finally completed; if the error between the calculated posture (i.e., the swing angle) and the expected value exceeds the threshold range, the corresponding lifting and lowering of the four angle adjustment cables 6 will be recalculated displacement, and perform step (3).

上述实施例中的高度调节机构1可以为液压装置、气动装置或电动伸缩装置,例如液压油缸、气缸或电动推杆。The height adjustment mechanism 1 in the above embodiment can be a hydraulic device, a pneumatic device or an electric telescopic device, such as a hydraulic cylinder, a pneumatic cylinder or an electric push rod.

上述实施例中的旋转机构2可以为电动转台。The rotating mechanism 2 in the above embodiment may be an electric turntable.

如图6所示,水平仪11、四个拉力传感器8、CCD相机9均与控制单元电连接,控制单元会根据传感器信号或外部指令向高度调节机构1、四个升降电机7和旋转机构2发出控制指令。与实施例一不同的是,投射器16也与控制单元电连接。As shown in Figure 6, the level 11, the four tension sensors 8, and the CCD camera 9 are all electrically connected to the control unit. The control unit will send signals to the height adjustment mechanism 1, the four lifting motors 7, and the rotating mechanism 2 based on sensor signals or external instructions. Control instruction. Different from the first embodiment, the projector 16 is also electrically connected to the control unit.

上述实施例可以提高吊具的集成度和可靠性,相比于前两个实施例具有更好的技术效果,各实施例中CCD相机并不作为对本申请的限制,也可以选择其它类型合适的成像装置。The above embodiments can improve the integration and reliability of the spreader, and have better technical effects than the first two embodiments. The CCD camera in each embodiment is not a limitation on this application, and other suitable types can also be selected. imaging device.

在位姿计算中,理论上讲靶标点之间的尺寸越大,位姿的测量精度越高,因此实施例1中靶标点间的距离在10cm-20cm之间,将靶标尺设置的较大就是为了在条件允许的条件下尽可能地提高测量精度,因为此时角度调节钢索6并不会对相机测量产生干涉;而在实施例二中,当四条角度调节钢索6穿过钢索导向机构13后后严重干扰相机的视场,相应地也会影响靶标尺的尺寸,因此实施例二虽然提高了吊具的稳定性,却牺牲了部分位姿测量的精度;而在实施例三中,本申请创造性地将球铰球头从刚性连杆的下部移至上部,并在其上设置与下平台5平行的靶标面151,使得投射器16可在靶标面151上投射靶标点,这样的设计使得位姿测量在一个封闭的环境中进行,可以有效避免外界环境的干扰,而且靶标面151的面积减小也降低了其深度方向的位移,对相机景深的要求也会相应降低,可以有效降低成本,最终实际位姿精度相比于实施例一和二虽然略微降低(相差8%之以内),但其在设备的集成度、可靠性和成本控制等方面具有很大优势。In the pose calculation, theoretically, the larger the size between the target points, the higher the measurement accuracy of the pose. Therefore, in Example 1, the distance between the target points is between 10cm and 20cm, and the target ruler is set larger. It is to improve the measurement accuracy as much as possible if conditions permit, because at this time the angle adjustment cable 6 will not interfere with the camera measurement; and in the second embodiment, when the four angle adjustment cables 6 pass through the cable The guide mechanism 13 seriously interferes with the camera's field of view, and accordingly affects the size of the target ruler. Therefore, although the second embodiment improves the stability of the spreader, it sacrifices part of the accuracy of the pose measurement; and in the third embodiment , this application creatively moves the ball joint ball head from the lower part of the rigid link to the upper part, and sets a target surface 151 parallel to the lower platform 5 on it, so that the projector 16 can project the target point on the target surface 151, Such a design allows pose measurement to be performed in a closed environment, which can effectively avoid interference from the external environment. Moreover, the reduced area of the target surface 151 also reduces its displacement in the depth direction, and the requirements for the camera's depth of field will also be reduced accordingly. The cost can be effectively reduced. Although the final actual pose accuracy is slightly lower than that of Embodiments 1 and 2 (within a difference of 8%), it has great advantages in terms of equipment integration, reliability, and cost control.

以上所述仅为本申请的优选实施例而已,并不用于限制本申请,尽管参照前述实施例对本申请进行了详细的说明,对于本领域技术人员来说,其依然可以对前述各实施例所记载的技术方案进行改进,或者对其中部分技术特征进行等同替换。凡在本申请的精神和原则之内,所作的任何修改、等同替换,均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the foregoing embodiments. Improve the recorded technical solutions, or make equivalent replacements for some of the technical features. Any modifications and equivalent substitutions made within the spirit and principles of this application shall be included in the protection scope of this application.

Claims (7)

1.一种具有摇摆角度检测装置的起重机吊具,其特征在于,包括:高度调节机构,旋转机构,上平台,刚性连杆,四条角度调节钢索,四个升降电机,下平台,CCD相机,靶标尺和水平仪;1. A crane spreader with a swing angle detection device, which is characterized in that it includes: a height adjustment mechanism, a rotating mechanism, an upper platform, a rigid connecting rod, four angle adjustment cables, four lifting motors, a lower platform, and a CCD camera , target ruler and level; 高度调节机构的上端与起重装置的小车机构的下端固定连接,高度调节机构的下端固定连接旋转机构的固定部,旋转机构的旋转部固定连接上平台的顶面的中心位置;刚性连杆的上端固定连接上平台的底面的中心位置,刚性连杆的下端设有下球铰球头,刚性连杆下端的下球铰球头内置于下平台内,刚性连杆通过下球铰球头为下平台提供一刚性支撑,且下平台可依靠设置在其上的下球铰球头实现旋转角度调节;The upper end of the height adjustment mechanism is fixedly connected to the lower end of the trolley mechanism of the lifting device, the lower end of the height adjustment mechanism is fixedly connected to the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected to the center position of the top surface of the upper platform; the rigid connecting rod The upper end is fixedly connected to the center of the bottom surface of the upper platform. The lower end of the rigid connecting rod is equipped with a lower spherical hinge ball head. The lower spherical hinge ball head at the lower end of the rigid connecting rod is built into the lower platform. The rigid connecting rod passes through the lower spherical hinge ball head. The lower platform provides a rigid support, and the lower platform can realize rotation angle adjustment by relying on the lower ball hinge ball head provided on it; 上平台和下平台均是正方形结构,上平台的内部四个角的位置各设有一升降电机;四条角度调节钢索的下端分别连接下平台的上表面的四个端角,其上端连接与其对应的上平台内的升降电机的输出轴,四条角度调节钢索上均设置有拉力传感器,拉力传感器用于监测角度调节钢索所受到的拉力大小;在角度调节钢索驱动过程中,若拉力传感器的数值超过第一阈值,则与这一角度调节钢索对应的升降电机将降低转速,若拉力传感器的数值超过第二阈值,则与这一角度调节钢索对应的升降电机将立即停机,第二阈值大于第一阈值;Both the upper platform and the lower platform are square structures. Each of the four inner corners of the upper platform is equipped with a lifting motor; the lower ends of the four angle adjustment cables are respectively connected to the four end corners of the upper surface of the lower platform, and their upper ends are connected to their corresponding The output shaft of the lifting motor in the upper platform and the four angle adjustment cables are equipped with tension sensors. The tension sensors are used to monitor the amount of tension exerted by the angle adjustment cables; during the driving process of the angle adjustment cables, if the tension sensor If the value of the tension sensor exceeds the first threshold, the lift motor corresponding to the angle adjustment cable will reduce the speed. If the value of the tension sensor exceeds the second threshold, the lift motor corresponding to the angle adjustment cable will stop immediately. The second threshold is greater than the first threshold; 在上平台的下表面设有CCD相机,在下平台的上表面设有与CCD相机相对的靶标尺,在下平台上还设置有水平仪;CCD相机、靶标尺和水平仪组成摇摆角度检测装置,实现下平台的摇摆角度检测;A CCD camera is provided on the lower surface of the upper platform, a target ruler opposite to the CCD camera is provided on the upper surface of the lower platform, and a level is also provided on the lower platform; the CCD camera, target ruler and level form a swing angle detection device to realize the lower platform Swing angle detection; 下平台的下表面阵列式地设置有若干T型槽和螺纹孔,用于固定装夹吊装物体的专用吊具,专用吊具用于确定吊装物体的初始位姿;The lower surface of the lower platform is provided with a number of T-shaped slots and threaded holes in an array, which are used to fix special slings for clamping and hoisting objects. The special slings are used to determine the initial posture of the hoisted objects; 靶标尺为等腰直角三角形,其上共设置有四个靶标,靶标之间的距离已知,斜边上等间隔设置有三个靶标,而每个直角边上有两个靶标;The target ruler is an isosceles right triangle with a total of four targets set on it. The distance between the targets is known. Three targets are set at equal intervals on the hypotenuse, and there are two targets on each right-angled side; 在刚性连杆的中部偏下位置设置四个钢索导向机构,角度调节钢索穿过钢索导向机构后连接与其对应的上平台内的升降电机的输出轴;Four cable guide mechanisms are set at the lower middle part of the rigid connecting rod. The angle adjustment cable passes through the cable guide mechanism and is connected to the output shaft of the corresponding lifting motor in the upper platform; 钢索导向机构为转轴固定在刚性连杆的中部偏下位置的导向滑轮;The cable guide mechanism is a guide pulley with the rotating shaft fixed at the lower middle position of the rigid connecting rod; 具有摇摆角度检测装置的起重机吊具的工作过程如下所述:The working process of the crane spreader with swing angle detection device is as follows: (1)使用专用夹具将待吊装物体固定安装在下平台的下表面上;并通过水平仪检测下平台的水平初始状态,通过四个升降电机驱动角度调节钢索来调节下平台的水平状态达到预期范围;在水平初始状态下,为后续的调整提供一个参考基准;(1) Use a special fixture to fix the object to be hoisted on the lower surface of the lower platform; detect the initial horizontal state of the lower platform through a level, and adjust the horizontal state of the lower platform to the expected range by driving the angle-adjusting steel cables driven by four lift motors. ;In the horizontal initial state, it provides a reference benchmark for subsequent adjustments; (2)在下平台水平状态下CCD相机采集靶标尺的图像;根据待吊装物体总装的参数需求解算出四条角度调节钢索对应的升降位移量;(2) When the lower platform is horizontal, the CCD camera collects the image of the target ruler; according to the parameter requirements of the final assembly of the object to be hoisted, the corresponding lifting displacements of the four angle adjustment cables are calculated; (3)控制单元控制四个升降电机协同运动,带动下平台绕下球铰球头旋转;设置在四根角度调节钢索上的四个拉力传感器监测角度调节钢索的拉力,与此同时CCD相机采集不同位姿的靶标尺的图像,控制单元提取靶标尺的图像、提取其上的特征点、标定CCD相机内参并解算位姿;(3) The control unit controls the coordinated movement of the four lifting motors to drive the lower platform to rotate around the lower ball hinge ball head; four tension sensors set on the four angle adjustment cables monitor the tension of the angle adjustment cables, and at the same time, the CCD The camera collects images of the target ruler in different postures, and the control unit extracts the image of the target ruler, extracts feature points on it, calibrates the internal parameters of the CCD camera and solves the posture; (4)若解算出的位姿与预期值的误差在阈值范围内,则小车机构带动待吊装物体运动至与之总装的工件处,通过高度调节机构和旋转机构实现待吊装物体高度和绕竖直方向的角度调整,最终实现总装;若解算出的位姿与预期值的误差超出阈值范围,则重新解算四条角度调节钢索对应的升降位移量,并执行步骤(3)。(4) If the error between the calculated pose and the expected value is within the threshold range, the trolley mechanism drives the object to be hoisted to the workpiece for final assembly, and the height and vertical position of the object to be hoisted are realized through the height adjustment mechanism and rotation mechanism. Angle adjustment in the straight direction is performed to finally achieve final assembly; if the error between the calculated pose and the expected value exceeds the threshold range, the corresponding lifting displacements of the four angle adjustment cables are recalculated and step (3) is performed. 2.如权利要求1所述的起重机吊具,其特征在于,高度调节机构为液压油缸、气缸或电动推杆。2. The crane spreader as claimed in claim 1, characterized in that the height adjustment mechanism is a hydraulic cylinder, a cylinder or an electric push rod. 3.如权利要求1所述的起重机吊具,其特征在于,旋转机构为电动转台。3. The crane spreader of claim 1, wherein the rotating mechanism is an electric turntable. 4.如权利要求1所述的起重机吊具,其特征在于,在上平台的下表面设置有导向滑轮,为角度调节钢索调节方向。4. The crane spreader as claimed in claim 1, characterized in that a guide pulley is provided on the lower surface of the upper platform to adjust the angle adjustment direction of the steel cable. 5.一种具有摇摆角度检测装置的起重机吊具,其特征在于,包括:高度调节机构,旋转机构,上平台,刚性连杆,四条角度调节钢索,四个升降电机,下平台,CCD相机,投射器和水平仪;5. A crane spreader with a swing angle detection device, which is characterized by including: a height adjustment mechanism, a rotating mechanism, an upper platform, a rigid connecting rod, four angle adjustment cables, four lifting motors, a lower platform, and a CCD camera , projector and level; 高度调节机构的上端与起重装置的小车机构的下端固定连接,高度调节机构的下端固定连接旋转机构的固定部,旋转机构的旋转部固定连接上平台的顶面的中心位置;刚性连杆与上平台的中心位置通过刚性连杆上端设置的上球铰球头连接,刚性连杆的上球铰球头内置在上平台内,刚性连杆下端与下平台的上表面中心位置固定连接,刚性连杆为下平台提供一刚性支撑,且下平台可通过上球铰球头实现旋转角度调节;The upper end of the height adjustment mechanism is fixedly connected to the lower end of the trolley mechanism of the lifting device, the lower end of the height adjustment mechanism is fixedly connected to the fixed part of the rotating mechanism, and the rotating part of the rotating mechanism is fixedly connected to the center position of the top surface of the upper platform; the rigid connecting rod is connected to The center position of the upper platform is connected through an upper spherical hinge ball head provided at the upper end of the rigid connecting rod. The upper spherical hinge ball head of the rigid connecting rod is built into the upper platform. The lower end of the rigid connecting rod is fixedly connected to the center position of the upper surface of the lower platform. The rigid connecting rod is The connecting rod provides a rigid support for the lower platform, and the lower platform can adjust the rotation angle through the upper ball hinge ball head; 上平台和下平台均是正方形结构,上平台的内部四个角的位置各设有一升降电机;四条角度调节钢索的下端分别连接下平台的上表面的四个端角,在刚性连杆的中部偏下位置设置了四个钢索导向机构,角度调节钢索穿过钢索导向机构后连接与其对应的上平台内的升降电机的输出轴;四条角度调节钢索通过四个升降电机的驱动可以灵活实现下平台的角度的调节;四条角度调节钢索上均设置有拉力传感器;Both the upper platform and the lower platform are square structures. Each of the four internal corners of the upper platform is equipped with a lifting motor; the lower ends of the four angle adjustment cables are respectively connected to the four end corners of the upper surface of the lower platform, and are connected to the rigid connecting rods. Four steel cable guide mechanisms are set at the lower part of the middle. The angle adjustment cables pass through the cable guide mechanisms and are connected to the output shaft of the corresponding lifting motor in the upper platform; the four angle adjustment cables are driven by the four lifting motors. The angle of the lower platform can be flexibly adjusted; the four angle adjustment cables are equipped with tension sensors; 上平台的内部偏下位置形成有容置上球铰球头的空腔,在空腔下部形成有上大下小的锥形孔;在空腔的上部形成有圆柱形腔体,在腔体的上部,上平台上壁的内侧固定设有CCD相机和投射器;上球铰球头的顶部切除一部分形成与下平台平行的靶标面,切除部分的高度不大于球体直径的,投射器可在靶标面上投射靶标点;A cavity for accommodating the upper ball hinge ball head is formed in the lower part of the upper platform, and a tapered hole with a larger upper and smaller size is formed in the lower part of the cavity; a cylindrical cavity is formed in the upper part of the cavity, and a cylindrical cavity is formed in the lower part of the cavity. On the upper part, a CCD camera and a projector are fixed on the inner side of the upper wall of the upper platform; a part of the top of the upper spherical hinge ball head is cut off to form a target surface parallel to the lower platform. If the height of the cut-off part is not greater than the diameter of the sphere, the projector can be Project target points on the target surface; CCD相机、投射器和水平仪组成摇摆角度检测装置,实现下平台的摇摆角度检测;The CCD camera, projector and level form a swing angle detection device to realize the swing angle detection of the lower platform; 钢索导向机构为转轴固定在刚性连杆的中部偏下位置的导向滑轮;The cable guide mechanism is a guide pulley with the rotating shaft fixed at the lower middle position of the rigid connecting rod; 具有摇摆角度检测装置的起重机吊具的工作过程如下所述:The working process of the crane spreader with swing angle detection device is as follows: (1)使用专用夹具将待吊装物体固定安装在下平台的下表面上;并通过水平仪检测下平台的水平初始状态,通过四个升降电机驱动角度调节钢索来调节下平台的水平状态达到预期范围;在水平初始状态下,为后续的调整提供一个参考基准;(1) Use a special fixture to fix the object to be hoisted on the lower surface of the lower platform; detect the initial horizontal state of the lower platform through a level, and adjust the horizontal state of the lower platform to the expected range by driving the angle-adjusting steel cables driven by four lift motors. ;In the horizontal initial state, it provides a reference benchmark for subsequent adjustments; (2)在下平台水平状态下CCD相机采集投射器投射在靶标面的图像;根据待吊装物体总装的参数需求解算出四条角度调节钢索对应的升降位移量;(2) When the lower platform is horizontal, the CCD camera collects the image projected by the projector on the target surface; according to the parameter requirements of the final assembly of the object to be hoisted, the corresponding lifting displacements of the four angle adjustment cables are calculated; (3)控制单元控制四个升降电机协同运动,带动下平台绕上球铰球头旋转;此时,设置在四根角度调节钢索上的四个拉力传感器监测角度调节钢索的拉力,与此同时CCD相机采集不同位姿的靶标面的图像,控制单元提取靶标面的图像、提取其上的特征点、标定CCD相机内参并解算位姿;(3) The control unit controls the coordinated movement of the four lifting motors to drive the lower platform to rotate around the upper spherical hinge ball head; at this time, the four tension sensors installed on the four angle adjustment cables monitor the tension of the angle adjustment cables, and At the same time, the CCD camera collects images of the target surface in different poses, and the control unit extracts images of the target surface, extracts feature points on it, calibrates the internal parameters of the CCD camera and solves the pose; (4)若解算出的位姿与预期值的误差在阈值范围内,则小车机构带动待吊装物体运动至与之总装的工件处,通过高度调节机构和旋转机构实现待吊装物体高度和绕竖直方向的角度调整,最终完成总装;若解算出的位姿与预期值的误差超出阈值范围,则重新解算四条角度调节钢索对应的升降位移量,并执行步骤(3)。(4) If the error between the calculated pose and the expected value is within the threshold range, the trolley mechanism drives the object to be hoisted to the workpiece for final assembly, and the height and vertical position of the object to be hoisted are realized through the height adjustment mechanism and rotation mechanism. The angle adjustment in the straight direction is finally completed. If the error between the calculated pose and the expected value exceeds the threshold range, the corresponding lifting displacements of the four angle adjustment cables are recalculated and step (3) is performed. 6.如权利要求5所述的起重机吊具,其特征在于,在驱动过程中,若拉力传感器的数值超过第一阈值,则与这一角度调节钢索对应的升降电机将降低转速运行,若拉力传感器的数值超过第二阈值,则与这一角度调节钢索对应的升降电机将立即停机,第二阈值大于第一阈值。6. The crane spreader of claim 5, wherein during the driving process, if the value of the tension sensor exceeds the first threshold, the lifting motor corresponding to the angle adjustment cable will operate at a reduced speed. If If the value of the tension sensor exceeds the second threshold, the lifting motor corresponding to this angle adjustment cable will stop immediately, and the second threshold is greater than the first threshold. 7.如权利要求5所述的起重机吊具,其特征在于,下平台的下表面阵列式地设置有若干T型槽和螺纹孔,用于固定装夹吊装物体的专用吊具;专用吊具用于确定吊装物体的初始位姿。7. The crane spreader as claimed in claim 5, characterized in that the lower surface of the lower platform is provided with a number of T-shaped slots and threaded holes in an array for fixing special spreaders for clamping and hoisting objects; special spreaders Used to determine the initial pose of the hoisted object.
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